handleball.h

RoboCup仿真组世界冠军源代码

/*
    Copyright (C) 2001  Tsinghuaeolus

    Authors : ChenJiang, YaoJinyi, CaiYunpeng, Lishi

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

	If you make any changes or have any comments we would appreciate a 
	message to [e-mail].
*/

#ifndef _handleball
#define _handleball

#include "command.h"
#include "geometry.h" 
#include "shoot.h"
#include "interception.h"
#include "objects.h"
#include "pass.h"


class Handleball{
private:
	Time startime, action_times;
	ActionType lastaction;
	bool handleable;

	/* inner-module competition
	the result is saved in log***	*/
	bool DoShootDecision();
	bool DoDribbleDecision();
	bool DoPassDecision();
	/* inter-module competition */
	void Evaluate();

//sensitivity grad info

	bool passable;
	bool dribblable;
	bool shootable;
	float pass_priority;
	float dribble_priority;
	float shoot_priority;
	Command shootcommand;

public:
	bool Handlable();
	bool Tryhandle();
	void B_evaluate();
	bool DoHandleballDecision();

	PassInfo logpass;
	float logdribble;
	ShootInfo logshoot;

	float GetShootPriority(ShootInfo& shoot);
	float GetDribblePriority(AngleDeg angle);
	float GetPassPriority(PassInfo& passinfo);
	
	float GetMinShootSpeed(){ return logshoot.MinShootSpeed();}
	AngleDeg GetShootAngle(){ return logshoot.ShootAngle();}
	UNum GetReceiver(){ return logpass.Receiver();}
	float GetPassSpeed(){ return logpass.PassSpeed();}
	AngleDeg GetPassAngle(){ return logpass.PassAngle();}
	AngleDeg GetDribbleAngle(){ return logdribble;}

	bool WaitPassLook();
};
#endif